As someone who has sensory issues, being barefoot (with or without socks), is awful. I hate it. The only time I ever have barefeet is in the shower, in bed, at the pool (OMG that makes me want to vomit) and at the beach. Otherwise I have shoes of some description on.
I have had to take my shoes off at other people's houses, I deal with it by sitting down and not moving until I am leaving. Being barefoot makes me want to vomit and cry. The latter I have done a few times